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<div class="title">range_image_border_extractor.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Author: Bastian Steder</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/range_image/range_image.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl {</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ae26fcdf7d1a7ec96290eac407146919b">   45</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ae26fcdf7d1a7ec96290eac407146919b">RangeImageBorderExtractor::getObstacleBorderAngle</a>(<span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a>&amp; border_traits)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">float</span> x=0.0f, y=0.0f;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_RIGHT])</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    ++x;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_LEFT])</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    --x;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_TOP])</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    --y;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM])</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    ++y;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">return</span> atan2f(y, x);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;}</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">inline</span> std::ostream&amp; operator &lt;&lt; (std::ostream&amp; os, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">RangeImageBorderExtractor::Parameters</a>&amp; p)</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;{</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  os &lt;&lt; PVARC(p.pixel_radius_borders)&lt;&lt;PVARC(p.pixel_radius_plane_extraction)&lt;&lt;PVARC(p.pixel_radius_border_direction)</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;     &lt;&lt; PVARC(p.minimum_border_probability)&lt;&lt;PVARN(p.pixel_radius_principal_curvature);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">return</span> (os);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#afc527dd5fb69ea2ad4a94ad167fc2e75">   70</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#afc527dd5fb69ea2ad4a94ad167fc2e75">RangeImageBorderExtractor::getNeighborDistanceChangeScore</a>(</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">RangeImageBorderExtractor::LocalSurface</a>&amp; local_surface,</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">int</span> pixel_radius)<span class="keyword"> const</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point = range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a>(x, y);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a> neighbor;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">get1dPointAverage</a>(x+offset_x, y+offset_y, offset_x, offset_y, pixel_radius, neighbor);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (pcl_isinf(neighbor.range))</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">if</span> (neighbor.range &lt; 0.0f)</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordflow">return</span> 0.0f;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">//cout &lt;&lt; &quot;INF edge -&gt; Setting to 1.0\n&quot;;</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keywordflow">return</span> 1.0f;  <span class="comment">// TODO: Something more intelligent</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">float</span> neighbor_distance_squared = <a class="code" href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">squaredEuclideanDistance</a>(neighbor, point);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> (neighbor_distance_squared &lt;= local_surface.max_neighbor_distance_squared)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span> 0.0f;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">float</span> ret = 1.0f - std::sqrt (local_surface.max_neighbor_distance_squared / neighbor_distance_squared);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span> (neighbor.range &lt; point.range)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    ret = -ret;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;}</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">//float RangeImageBorderExtractor::getNormalBasedBorderScore(const RangeImageBorderExtractor::LocalSurface&amp; local_surface,</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                                                           <span class="comment">//int x, int y, int offset_x, int offset_y) const</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">//{</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="comment">//PointWithRange neighbor;</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="comment">//range_image_-&gt;get1dPointAverage(x+offset_x, y+offset_y, offset_x, offset_y, parameters_.pixel_radius_borders, neighbor);</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">//if (pcl_isinf(neighbor.range))</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">//if (neighbor.range &lt; 0.0f)</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="comment">//return 0.0f;</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="comment">//else</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="comment">//return 1.0f;  // TODO: Something more intelligent (Compare normal with viewing direction)</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">//float normal_distance_to_plane_squared = local_surface.smallest_eigenvalue_no_jumps;</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">//float distance_to_plane = local_surface.normal_no_jumps.dot(local_surface.neighborhood_mean_no_jumps-neighbor.getVector3fMap());</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">//bool shadow_side = distance_to_plane &lt; 0.0f;</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="comment">//float distance_to_plane_squared = pow(distance_to_plane, 2);</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">//if (distance_to_plane_squared &lt;= normal_distance_to_plane_squared)</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="comment">//return 0.0f;</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">//float ret = 1.0f - (normal_distance_to_plane_squared/distance_to_plane_squared);</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">//if (shadow_side)</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">//ret = -ret;</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment"></span>  <span class="comment">//return ret;</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">//}</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">  123</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">RangeImageBorderExtractor::get3dDirection</a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_border_description.html">BorderDescription</a>&amp; border_description, Eigen::Vector3f&amp; direction,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                                               <span class="keyword">const</span> <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a>* local_surface)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;{</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a> border_traits = border_description.traits;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordtype">int</span> delta_x=0, delta_y=0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_RIGHT])</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    ++delta_x;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_LEFT])</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    --delta_x;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_TOP])</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    --delta_y;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM])</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    ++delta_y;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">if</span> (delta_x==0 &amp;&amp; delta_y==0)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">int</span> x=border_description.x, y=border_description.y;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_with_range.html">PointWithRange</a>&amp; point = range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">getPoint</a>(x, y);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  Eigen::Vector3f neighbor_point;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">calculate3DPoint</a>(<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x+delta_x), <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y+delta_y), point.range, neighbor_point);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">//cout &lt;&lt; &quot;Neighborhood point is &quot;&lt;&lt;neighbor_point[0]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[1]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[2]&lt;&lt;&quot;.\n&quot;;</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <span class="keywordflow">if</span> (local_surface!=NULL)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// Get the point that lies on the local plane approximation</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    Eigen::Vector3f sensor_pos = range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">getSensorPos</a>(),</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                    viewing_direction = neighbor_point-sensor_pos;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keywordtype">float</span> lambda = (local_surface-&gt;normal_no_jumps.dot(local_surface-&gt;neighborhood_mean_no_jumps-sensor_pos)/</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                   local_surface-&gt;normal_no_jumps.dot(viewing_direction));</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    neighbor_point = lambda*viewing_direction + sensor_pos;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="comment">//cout &lt;&lt; &quot;Neighborhood point projected onto plane is &quot;&lt;&lt;neighbor_point[0]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[1]&lt;&lt;&quot;, &quot;&lt;&lt;neighbor_point[2]&lt;&lt;&quot;.\n&quot;;</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">//cout &lt;&lt; point.x&lt;&lt;&quot;,&quot;&lt;&lt; point.y&lt;&lt;&quot;,&quot;&lt;&lt; point.z&lt;&lt;&quot; -&gt; &quot;&lt;&lt; direction[0]&lt;&lt;&quot;,&quot;&lt;&lt; direction[1]&lt;&lt;&quot;,&quot;&lt;&lt; direction[2]&lt;&lt;&quot;\n&quot;;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  direction = neighbor_point-point.getVector3fMap();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  direction.normalize();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ae6359bbb546f217d5684a9a89499be89">  165</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ae6359bbb546f217d5684a9a89499be89">RangeImageBorderExtractor::calculateBorderDirection</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;{</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordtype">int</span> index = y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  Eigen::Vector3f*&amp; border_direction = border_directions_[index];</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  border_direction = NULL;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_border_description.html">BorderDescription</a>&amp; border_description = border_descriptions_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index];</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a>&amp; border_traits = border_description.traits;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordflow">if</span> (!border_traits[BORDER_TRAIT__OBSTACLE_BORDER])</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  border_direction = <span class="keyword">new</span> Eigen::Vector3f(0.0f, 0.0f, 0.0f);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">get3dDirection</a>(border_description, *border_direction, surface_structure_[index]))</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">delete</span> border_direction;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    border_direction = NULL;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a7790ac3b97468a6414b6f08df679d667">  183</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a7790ac3b97468a6414b6f08df679d667">RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">float</span>* border_scores,</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                                                                        <span class="keywordtype">float</span>* border_scores_other_direction, <span class="keywordtype">int</span>&amp; shadow_border_idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordtype">float</span>&amp; border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  shadow_border_idx = -1;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">if</span> (border_score&lt;parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">if</span> (border_score == 1.0f) </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  {  <span class="comment">// INF neighbor?</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">if</span> (range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">isMaxRange</a>(x+offset_x, y+offset_y))</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      shadow_border_idx = (y+offset_y)*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x+offset_x;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  }</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordtype">float</span> best_shadow_border_score = 0.0f;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_distance=1; neighbor_distance&lt;=parameters_.pixel_radius_borders; ++neighbor_distance)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <span class="keywordtype">int</span> neighbor_x=x+neighbor_distance*offset_x, neighbor_y=y+neighbor_distance*offset_y;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y))</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keywordtype">float</span> neighbor_shadow_border_score = border_scores_other_direction[neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+neighbor_x];</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">if</span> (neighbor_shadow_border_score &lt; best_shadow_border_score)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      shadow_border_idx = neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + neighbor_x;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      best_shadow_border_score = neighbor_shadow_border_score;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordflow">if</span> (shadow_border_idx &gt;= 0)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="comment">//cout &lt;&lt; PVARC(border_score)&lt;&lt;PVARN(best_shadow_border_score);</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="comment">//border_score *= (std::max)(0.9f, powf(-best_shadow_border_score, 0.1f));  // TODO: Something better</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    border_score *= (std::max)(0.9f, 1-powf(1+best_shadow_border_score, 3));</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span> (border_score&gt;=parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  shadow_border_idx = -1;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  border_score = 0.0f;  <span class="comment">// Since there was no shadow border found we set this value to zero, so that it does not influence the maximum search</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;}</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a2f66eaecf71d2ab0a0940f9508a92d20">  229</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a2f66eaecf71d2ab0a0940f9508a92d20">RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keyword">const</span> <span class="keywordtype">float</span>* border_scores)<span class="keyword"> const</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <span class="keywordtype">float</span> max_score_bonus = 0.5f;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordtype">float</span> border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// Check if an update can bring the score to a value higher than the minimum</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="keywordflow">if</span> (border_score + max_score_bonus*(1.0f-border_score) &lt; parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    <span class="keywordflow">return</span> border_score;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keywordtype">float</span> average_neighbor_score=0.0f, weight_sum=0.0f;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-1; y2&lt;=y+1; ++y2)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-1; x2&lt;=x+1; ++x2)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(x2, y2) || (x2==x&amp;&amp;y2==y))</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      average_neighbor_score += border_scores[y2*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x2];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      weight_sum += 1.0f;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    }</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  average_neighbor_score /=weight_sum;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">if</span> (average_neighbor_score*border_score &lt; 0.0f)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">return</span> border_score;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">float</span> new_border_score = border_score + max_score_bonus * average_neighbor_score * (1.0f-fabsf(border_score));</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="comment">//std::cout &lt;&lt; PVARC(border_score)&lt;&lt;PVARN(new_border_score);</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordflow">return</span> new_border_score;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;}</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#ae3dcb18b255626cf68e3695f7172be51">  261</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#ae3dcb18b255626cf68e3695f7172be51">RangeImageBorderExtractor::checkPotentialBorder</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">float</span>* border_scores,</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                                                     <span class="keywordtype">float</span>* border_scores_other_direction, <span class="keywordtype">int</span>&amp; shadow_border_idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordtype">float</span>&amp; border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">if</span> (border_score&lt;parameters_.minimum_border_probability)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  shadow_border_idx = -1;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordtype">float</span> best_shadow_border_score = -0.5f*parameters_.minimum_border_probability;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_distance=1; neighbor_distance&lt;=parameters_.pixel_radius_borders; ++neighbor_distance)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordtype">int</span> neighbor_x=x+neighbor_distance*offset_x, neighbor_y=y+neighbor_distance*offset_y;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y))</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keywordtype">float</span> neighbor_shadow_border_score = border_scores_other_direction[neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+neighbor_x];</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keywordflow">if</span> (neighbor_shadow_border_score &lt; best_shadow_border_score)</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    {</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;      shadow_border_idx = neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + neighbor_x;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      best_shadow_border_score = neighbor_shadow_border_score;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    }</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  }</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordflow">if</span> (shadow_border_idx &gt;= 0)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  }</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  border_score = 0.0f;  <span class="comment">// Since there was no shadow border found we set this value to zero, so that it does not influence the maximum search</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#a141f7569bbe617dc9c97d031821941bc">  292</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#a141f7569bbe617dc9c97d031821941bc">RangeImageBorderExtractor::checkIfMaximum</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> offset_x, <span class="keywordtype">int</span> offset_y, <span class="keywordtype">float</span>* border_scores, <span class="keywordtype">int</span> shadow_border_idx)<span class="keyword"> const</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordtype">float</span> border_score = border_scores[y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x];</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">int</span> neighbor_x=x-offset_x, neighbor_y=y-offset_y;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordflow">if</span> (range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y) &amp;&amp; border_scores[neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+neighbor_x] &gt; border_score)</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> neighbor_distance=1; neighbor_distance&lt;=parameters_.pixel_radius_borders; ++neighbor_distance)</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    neighbor_x=x+neighbor_distance*offset_x; neighbor_y=y+neighbor_distance*offset_y;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">isInImage</a>(neighbor_x, neighbor_y))</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <span class="keywordtype">int</span> neighbor_index = neighbor_y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + neighbor_x;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">if</span> (neighbor_index==shadow_border_idx)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordtype">float</span> neighbor_border_score = border_scores[neighbor_index];</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keywordflow">if</span> (neighbor_border_score &gt; border_score)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;}</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classpcl_1_1_range_image_border_extractor.html#addb181b16f5a41bccbc50896d207e1a9">  315</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_range_image_border_extractor.html#addb181b16f5a41bccbc50896d207e1a9">RangeImageBorderExtractor::calculateMainPrincipalCurvature</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> radius, <span class="keywordtype">float</span>&amp; magnitude,</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;                                                                Eigen::Vector3f&amp; main_direction)<span class="keyword"> const</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  magnitude = 0.0f;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keywordtype">int</span> index = y*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>+x;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a>* local_surface = surface_structure_[index];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">if</span> (local_surface==NULL)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="comment">//const PointWithRange&amp; point = range_image_-&gt;getPointNoCheck(x,y);</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="comment">//Eigen::Vector3f&amp; normal = local_surface-&gt;normal_no_jumps;</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="comment">//Eigen::Matrix3f to_tangent_plane = Eigen::Matrix3f::Identity() - normal*normal.transpose();</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <a class="code" href="classpcl_1_1_vector_average.html">VectorAverage3f</a> vector_average;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordtype">bool</span> beams_valid[9];</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> step=1; step&lt;=radius; ++step)</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  {</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordtype">int</span> beam_idx = 0;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y2=y-step; y2&lt;=y+step; y2+=step)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x2=x-step; x2&lt;=x+step; x2+=step)</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      {</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordtype">bool</span>&amp; beam_valid = beams_valid[beam_idx++];</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        <span class="keywordflow">if</span> (step==1)</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          <span class="keywordflow">if</span> (x2==x &amp;&amp; y2==y)</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            beam_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;            beam_valid = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;        }</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;          <span class="keywordflow">if</span> (!beam_valid)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="comment">//std::cout &lt;&lt; x2-x&lt;&lt;&quot;,&quot;&lt;&lt;y2-y&lt;&lt;&quot;  &quot;;</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordflow">if</span> (!range_image_-&gt;<a class="code" href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">isValid</a>(x2,y2))</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordtype">int</span> index2 = y2*range_image_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> + x2;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keyword">const</span> <a class="code" href="group__common.html#ga010a963efcb59df316596af2902fcb58">BorderTraits</a>&amp; border_traits = border_descriptions_-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[index2].traits;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">if</span> (border_traits[BORDER_TRAIT__VEIL_POINT] || border_traits[BORDER_TRAIT__SHADOW_BORDER])</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        {</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;          beam_valid = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        }</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="comment">//const PointWithRange&amp; point2 = range_image_-&gt;getPoint(index2);</span></div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        <a class="code" href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">LocalSurface</a>* local_surface2 = surface_structure_[index2];</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;        <span class="keywordflow">if</span> (local_surface2==NULL)</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        Eigen::Vector3f&amp; normal2 = local_surface2-&gt;normal_no_jumps;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="comment">//float distance_squared = squaredEuclideanDistance(point, point2);</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="comment">//vector_average.add(to_tangent_plane*normal2);</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">add</a>(normal2);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    }</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  }</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="comment">//std::cout &lt;&lt; &quot;\n&quot;;</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  <span class="keywordflow">if</span> (vector_average.<a class="code" href="classpcl_1_1_vector_average.html#aa4247de7da2c1d3b80762c6123c62d30">getNoOfSamples</a>() &lt; 3)</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  Eigen::Vector3f eigen_values, eigen_vector1, eigen_vector2;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  vector_average.<a class="code" href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">doPCA</a>(eigen_values, eigen_vector1, eigen_vector2, main_direction);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  magnitude = std::sqrt (eigen_values[2]);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="comment">//magnitude = eigen_values[2];</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="comment">//magnitude = 1.0f - powf(1.0f-magnitude, 5);</span></div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="comment">//magnitude = 1.0f - powf(1.0f-magnitude, 10);</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <span class="comment">//magnitude += magnitude - powf(magnitude,2);</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="comment">//magnitude += magnitude - powf(magnitude,2);</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <span class="comment">//magnitude = std::sqrt (local_surface-&gt;eigen_values[0]/local_surface-&gt;eigen_values.sum());</span></div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">//magnitude = std::sqrt (local_surface-&gt;eigen_values_no_jumps[0]/local_surface-&gt;eigen_values_no_jumps.sum());</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <span class="comment">//if (surface_structure_[y*range_image_-&gt;width+x+1]==NULL||surface_structure_[y*range_image_-&gt;width+x-1]==NULL)</span></div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="comment">//magnitude = -std::numeric_limits&lt;float&gt;::infinity ();</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    <span class="comment">//return false;</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  <span class="comment">//float angle2 = acosf(surface_structure_[y*range_image_-&gt;width+x+1]-&gt;normal.dot(local_surface-&gt;normal)),</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="comment">//angle1 = acosf(surface_structure_[y*range_image_-&gt;width+x-1]-&gt;normal.dot(local_surface-&gt;normal));</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="comment">//magnitude = angle2-angle1;</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordflow">if</span> (!pcl_isfinite(magnitude))</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;}</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;}  <span class="comment">// namespace end</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a141f7569bbe617dc9c97d031821941bc"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a141f7569bbe617dc9c97d031821941bc">pcl::RangeImageBorderExtractor::checkIfMaximum</a></div><div class="ttdeci">bool checkIfMaximum(int x, int y, int offset_x, int offset_y, float *border_scores, int shadow_border_idx) const</div><div class="ttdoc">Check if a potential border point is a maximum regarding the border score</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:292</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a2f66eaecf71d2ab0a0940f9508a92d20"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a2f66eaecf71d2ab0a0940f9508a92d20">pcl::RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues</a></div><div class="ttdeci">float updatedScoreAccordingToNeighborValues(int x, int y, const float *border_scores) const</div><div class="ttdoc">Returns a new score for the given pixel that is &gt;= the original value, based on the neighbors values</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:229</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a7790ac3b97468a6414b6f08df679d667"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a7790ac3b97468a6414b6f08df679d667">pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue</a></div><div class="ttdeci">bool changeScoreAccordingToShadowBorderValue(int x, int y, int offset_x, int offset_y, float *border_scores, float *border_scores_other_direction, int &amp;shadow_border_idx) const</div><div class="ttdoc">Find the best corresponding shadow border and lower score according to the shadow borders value</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:183</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_a8ac3a295c64b7f06373101be122a6f48"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#a8ac3a295c64b7f06373101be122a6f48">pcl::RangeImageBorderExtractor::get3dDirection</a></div><div class="ttdeci">bool get3dDirection(const BorderDescription &amp;border_description, Eigen::Vector3f &amp;direction, const LocalSurface *local_surface=NULL)</div><div class="ttdoc">Calculate a 3d direction from a border point by projecting the direction in the range image - returns...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_addb181b16f5a41bccbc50896d207e1a9"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#addb181b16f5a41bccbc50896d207e1a9">pcl::RangeImageBorderExtractor::calculateMainPrincipalCurvature</a></div><div class="ttdeci">bool calculateMainPrincipalCurvature(int x, int y, int radius, float &amp;magnitude, Eigen::Vector3f &amp;main_direction) const</div><div class="ttdoc">Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the ...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:315</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ae26fcdf7d1a7ec96290eac407146919b"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ae26fcdf7d1a7ec96290eac407146919b">pcl::RangeImageBorderExtractor::getObstacleBorderAngle</a></div><div class="ttdeci">static float getObstacleBorderAngle(const BorderTraits &amp;border_traits)</div><div class="ttdoc">Take the information from BorderTraits to calculate the local direction of the border</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ae3dcb18b255626cf68e3695f7172be51"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ae3dcb18b255626cf68e3695f7172be51">pcl::RangeImageBorderExtractor::checkPotentialBorder</a></div><div class="ttdeci">bool checkPotentialBorder(int x, int y, int offset_x, int offset_y, float *border_scores_left, float *border_scores_right, int &amp;shadow_border_idx) const</div><div class="ttdoc">Check if a potential border point has a corresponding shadow border</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:261</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_ae6359bbb546f217d5684a9a89499be89"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#ae6359bbb546f217d5684a9a89499be89">pcl::RangeImageBorderExtractor::calculateBorderDirection</a></div><div class="ttdeci">void calculateBorderDirection(int x, int y)</div><div class="ttdoc">Calculate the 3D direction of the border just using the border traits at this position (facing away f...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:165</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_border_extractor_html_afc527dd5fb69ea2ad4a94ad167fc2e75"><div class="ttname"><a href="classpcl_1_1_range_image_border_extractor.html#afc527dd5fb69ea2ad4a94ad167fc2e75">pcl::RangeImageBorderExtractor::getNeighborDistanceChangeScore</a></div><div class="ttdeci">float getNeighborDistanceChangeScore(const LocalSurface &amp;local_surface, int x, int y, int offset_x, int offset_y, int pixel_radius=1) const</div><div class="ttdoc">Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /par...</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.hpp:70</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a1acc16b4b5fb7071175bada62a5b75d0"><div class="ttname"><a href="classpcl_1_1_range_image.html#a1acc16b4b5fb7071175bada62a5b75d0">pcl::RangeImage::calculate3DPoint</a></div><div class="ttdeci">void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &amp;point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:585</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a2372989721c3c119bb5d4b5ebd9b59c3"><div class="ttname"><a href="classpcl_1_1_range_image.html#a2372989721c3c119bb5d4b5ebd9b59c3">pcl::RangeImage::isValid</a></div><div class="ttdeci">bool isValid(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:448</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a397d6c6b38906e98ab89b817c4191247"><div class="ttname"><a href="classpcl_1_1_range_image.html#a397d6c6b38906e98ab89b817c4191247">pcl::RangeImage::get1dPointAverage</a></div><div class="ttdeci">void get1dPointAverage(int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &amp;average_point) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:802</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a52164736793c99cc9fc48dedee615e45"><div class="ttname"><a href="classpcl_1_1_range_image.html#a52164736793c99cc9fc48dedee615e45">pcl::RangeImage::getPoint</a></div><div class="ttdeci">const PointWithRange &amp; getPoint(int image_x, int image_y) const</div><div class="ttdoc">Return the 3D point with range at the given image position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:479</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a771ab2f1ee2952a319da20301b27ab3b"><div class="ttname"><a href="classpcl_1_1_range_image.html#a771ab2f1ee2952a319da20301b27ab3b">pcl::RangeImage::isMaxRange</a></div><div class="ttdeci">bool isMaxRange(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:471</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a824a6bb27b43a174da775a656b81a483"><div class="ttname"><a href="classpcl_1_1_range_image.html#a824a6bb27b43a174da775a656b81a483">pcl::RangeImage::isInImage</a></div><div class="ttdeci">bool isInImage(int x, int y) const</div><div class="ttdef"><b>Definition:</b> range_image.hpp:441</div></div>
<div class="ttc" id="aclasspcl_1_1_range_image_html_a942d6b253c5df68008614af6dfed323a"><div class="ttname"><a href="classpcl_1_1_range_image.html#a942d6b253c5df68008614af6dfed323a">pcl::RangeImage::getSensorPos</a></div><div class="ttdeci">const Eigen::Vector3f getSensorPos() const</div><div class="ttdoc">Get the sensor position</div><div class="ttdef"><b>Definition:</b> range_image.hpp:676</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html"><div class="ttname"><a href="classpcl_1_1_vector_average.html">pcl::VectorAverage</a></div><div class="ttdoc">Calculates the weighted average and the covariance matrix</div><div class="ttdef"><b>Definition:</b> vector_average.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_a468b99fac0cff4eaed8121df1b643de7"><div class="ttname"><a href="classpcl_1_1_vector_average.html#a468b99fac0cff4eaed8121df1b643de7">pcl::VectorAverage::doPCA</a></div><div class="ttdeci">void doPCA(Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_values, Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector1, Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector2, Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;eigen_vector3) const</div><div class="ttdef"><b>Definition:</b> vector_average.hpp:83</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_a4baf3e577114982e97f6f9a41affaa79"><div class="ttname"><a href="classpcl_1_1_vector_average.html#a4baf3e577114982e97f6f9a41affaa79">pcl::VectorAverage::add</a></div><div class="ttdeci">void add(const Eigen::Matrix&lt; real, dimension, 1 &gt; &amp;sample, real weight=1.0)</div><div class="ttdef"><b>Definition:</b> vector_average.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_vector_average_html_aa4247de7da2c1d3b80762c6123c62d30"><div class="ttname"><a href="classpcl_1_1_vector_average.html#aa4247de7da2c1d3b80762c6123c62d30">pcl::VectorAverage::getNoOfSamples</a></div><div class="ttdeci">unsigned int getNoOfSamples()</div><div class="ttdef"><b>Definition:</b> vector_average.h:81</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2distances_8h_html_a28ecc173df18d9175dee9f4dd042390b"><div class="ttname"><a href="common_2include_2pcl_2common_2distances_8h.html#a28ecc173df18d9175dee9f4dd042390b">pcl::squaredEuclideanDistance</a></div><div class="ttdeci">float squaredEuclideanDistance(const PointType1 &amp;p1, const PointType2 &amp;p2)</div><div class="ttdoc">Calculate the squared euclidean distance between the two given points.</div><div class="ttdef"><b>Definition:</b> distances.h:174</div></div>
<div class="ttc" id="agroup__common_html_ga010a963efcb59df316596af2902fcb58"><div class="ttname"><a href="group__common.html#ga010a963efcb59df316596af2902fcb58">pcl::BorderTraits</a></div><div class="ttdeci">std::bitset&lt; 32 &gt; BorderTraits</div><div class="ttdoc">Data type to store extended information about a transition from foreground to backgroundSpecification...</div><div class="ttdef"><b>Definition:</b> point_types.h:291</div></div>
<div class="ttc" id="astructpcl_1_1_border_description_html"><div class="ttname"><a href="structpcl_1_1_border_description.html">pcl::BorderDescription</a></div><div class="ttdoc">A structure to store if a point in a range image lies on a border between an obstacle and the backgro...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1441</div></div>
<div class="ttc" id="astructpcl_1_1_point_with_range_html"><div class="ttname"><a href="structpcl_1_1_point_with_range.html">pcl::PointWithRange</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, padded with an extra range float.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:1055</div></div>
<div class="ttc" id="astructpcl_1_1_range_image_border_extractor_1_1_local_surface_html"><div class="ttname"><a href="structpcl_1_1_range_image_border_extractor_1_1_local_surface.html">pcl::RangeImageBorderExtractor::LocalSurface</a></div><div class="ttdoc">Stores some information extracted from the neighborhood of a point</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:70</div></div>
<div class="ttc" id="astructpcl_1_1_range_image_border_extractor_1_1_parameters_html"><div class="ttname"><a href="structpcl_1_1_range_image_border_extractor_1_1_parameters.html">pcl::RangeImageBorderExtractor::Parameters</a></div><div class="ttdoc">Parameters used in this class</div><div class="ttdef"><b>Definition:</b> range_image_border_extractor.h:93</div></div>
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